refactor: Reflect hardware divergence by splutting shared code for ARMAR-DE and ARMAR-7

This change is to not make it look like the code of shape controllers is still shared between ARMAR-DE and ARMAR-7. The firmware diverged when it was decided to introduce magic numbers as PWM control targets to trigger certain control commands (instead of a dedicated boolean via PDO etc.) due to time constraints.

If the PDO is updated in the near future to model these control commands as booleans or enums or similar via PDOs, then the code can be merged again. The shape controller is a very high-level piece of software, and there is no reason to split the code other than the above-mentioned hardware-hack.